Development of an instantaneous GNSS/MEMS attitude determination system

Eling, Christian; Zeimetz, Philipp; Kuhlmann, Heiner

doi:10.1007/s10291-012-0266-8

Cited by 49 publications

(25 citation statements)

References 10 publications

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“…If the ambiguities could not be fixed, further investigations are necessary. Therefor, we use the ambiguity function method (Eling et al, 2013) and the known baseline length, to exclude false candidates from the ambiguity search space. Tests have shown, that our approach leads to an instantaneous ambiguity resolution success rate of 95% during UAV flights.…”

Section: Gps Attitude Determination (Gps Compass)mentioning

confidence: 99%

Development and Evaluation of a Uav Based Mapping System for Remote Sensing and Surveying Applications

Eling

Wieland

Heß

et al. 2015

Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci.

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ABSTRACT:In recent years, unmanned aerial vehicles (UAVs) have increasingly been used in various application areas, such as in the remote sensing or surveying. For these applications the UAV has to be equipped with a mapping sensor, which is mostly a camera. Furthermore, a georeferencing of the UAV platform and/or the acquired mapping data is required. The most efficient way to realize this georeferencing is the direct georeferencing, which is based on an onboard multi-sensor system. In recent decades, direct georeferencing systems have been researched and used extensively in airborne, ship and land vehicle applications. However, these systems cannot easily be adapted to UAV platforms, which is mainly due to weight and size limitations. In this paper a direct georeferencing system for micro-and mini-sized UAVs is presented, which consists of a dual-frequency geodetic grade OEM GPS board, a low-cost single-frequency GPS chip, a tactical grade IMU and a magnetometer. To allow for cm-level position and sub-degree attitude accuracies, RTK GPS (real-time kinematic) and GPS attitude (GPS compass) determination algorithms are running on this system, as well as a GPS/IMU integration. Beside the direct georeferencing, also the precise time synchronization of the camera, which acts as the main sensor for mobile mapping applications, and the calibration of the lever arm between the camera reference point and the direct georeferencing reference point are explained in this paper. Especially the high accurate time synchronization of the camera is very important, to still allow for high surveying accuracies, when the images are taken during the motion of the UAV.Results of flight tests demonstrate that the developed system, the camera synchronization and the lever arm calibration make directly georeferenced UAV based single point measurements possible, which have cm-level accuracies on the ground.

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Section: Gps Attitude Determination (Gps Compass)mentioning

confidence: 99%

Development and Evaluation of a Uav Based Mapping System for Remote Sensing and Surveying Applications

Eling

Wieland

Heß

et al. 2015

Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci.

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“…The baseline length is about 60cm. The carrier phase observations of the receivers are used to calculate the baseline vectors in a global coordinate frame, allowing the reconstruction of the roll, pitch and yaw angles of the setup [5]. These angles are used as an orientation reference in the following experiments.…”

Section: Experimental Evaluation Experimental Setupmentioning

confidence: 99%

Magnetic Field Sensor Calibration for Attitude Determination

Klingbeil

Eling

Zimmermann

et al. 2014

Journal of Applied Geodesy

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The presented work aims to give an overview of di erent calibration methods for magnetic eld sensors, which are used for attitude determination. These methods are applicable in the eld without any additional equipment. However, sometimes they require simpli cation assumptions. The paper addresses the validity of these assumptions, the accuracy and e ciency of the methods and the in uence of the calibration error on the orientation estimation. Both simulations and measurements are used for evaluation. The measurements are performed using a GNSS multi-antenna system, providing an orientation reference (roll, pitch, yaw) without unknown external magnetic disturbances and with a su cient accuracy (about 0.5 degrees). It is shown in simulations, that a full calibration of the sensor (including soft and hard iron disturbances by nearby materials) is possible without any additional equipment. However, experiments show, that some parts of the full calibration procedure are sensitive to an accurate execution of the necessary movements, which may lead to calibration errors in the same order of magnitude as a simpli ed method, which ignores the presence of soft iron disturbances.

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“…Two strategies can be followed for estimating the heading. Either the heading is directly measured by an absolute positioning/navigation system such as GNSS or compass, or the relative heading change between two epochs is sensed by embedded sensors such as gyroscopes and magnetometers [15,18].…”

Section: A) Doppler Measurementsmentioning

confidence: 99%

Adaptative pedestrian displacement estimation with a smartphone

Renaudin¹,

Demeule²,

Ortiz³

2013

International Conference on Indoor Positioning and Indoor Navigation

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Pedestrian dead reckoning is one of the most promising processing strategies of inertial signals collected with a smartphone for autonomous indoor personal navigation. When the sensors are held in hand, step length models are usually used to estimate the walking distance. They combine stride frequency with a finite number of physiological and descriptive parameters that are calibrated with training data for each person. But even under steady conditions, several physiological conditions are impacting the walking gait and consequently these parameters. Frequent calibration is needed to tune these models prior to relying on free inertial navigation solutions in indoor locations. Two hybridization filters are proposed for calibrating the step length model and estimating the navigation solution. They integrate either GNSS standalone positions or GNSS Doppler depending on the coupling level. A data collection performed with four test subjects show the variations of these parameters for the same person during his journey and effectiveness of the calibration for improving the estimation of walking distances.Thanks to the new filters, the error on the travelled distance gets reduced to 7% with the loosely coupled filter and 2% with the tightly coupled filter.

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Development of an instantaneous GNSS/MEMS attitude determination system

Cited by 49 publications

References 10 publications

Development and Evaluation of a Uav Based Mapping System for Remote Sensing and Surveying Applications

Development and Evaluation of a Uav Based Mapping System for Remote Sensing and Surveying Applications

Magnetic Field Sensor Calibration for Attitude Determination

Adaptative pedestrian displacement estimation with a smartphone

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